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<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../db/d7d/namespacecv_1_1randpattern.html">randpattern</a></li><li class="navelem"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html">RandomPatternCornerFinder</a></li>  </ul>
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<div class="title">cv::randpattern::RandomPatternCornerFinder Class Reference<div class="ingroups"><a class="el" href="../../d3/ddc/group__ccalib.html">Custom Calibration Pattern for 3D reconstruction</a></div></div>  </div>
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<p>Class for finding features points and corresponding 3D in world coordinate of a "random" pattern, which can be to be used in calibration. It is useful when pattern is partly occluded or only a part of pattern can be observed in multiple cameras calibration. The pattern can be generated by <a class="el" href="../../d7/d43/classcv_1_1randpattern_1_1RandomPatternGenerator.html">RandomPatternGenerator</a> class described in this file.  
 <a href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#details">More...</a></p>

<p><code>#include &lt;opencv2/ccalib/randpattern.hpp&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:adcd3edab6ce626e76d57a593d2640516"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#adcd3edab6ce626e76d57a593d2640516">RandomPatternCornerFinder</a> (float patternWidth, float patternHeight, int nminiMatch=20, int depth=<a class="el" href="../../d1/d1b/group__core__hal__interface.html#ga4a3def5d72b74bed31f5f8ab7676099c">CV_32F</a>, int verbose=0, int showExtraction=0, <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d9b/group__features2d.html#ga15e1361bda978d83a2bea629b32dfd3c">FeatureDetector</a> &gt; detector=<a class="el" href="../../d8/d30/classcv_1_1AKAZE.html#aee9025aea852275a424e1b5934c79103">AKAZE::create</a>(<a class="el" href="../../d8/d30/classcv_1_1AKAZE.html#a6f44619b9c9a25be4526de5b665ca690a929fb7e01bc6a4e8e7a1449ee0731c86">AKAZE::DESCRIPTOR_MLDB</a>, 0, 3, 0.005f), Ptr&lt; DescriptorExtractor &gt; descriptor=AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f), Ptr&lt; DescriptorMatcher &gt; matcher=DescriptorMatcher::create(&quot;BruteForce-L1&quot;))</td></tr>
<tr class="separator:adcd3edab6ce626e76d57a593d2640516"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f9403aa890ab7af3a4f312fd5f28d82"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#a4f9403aa890ab7af3a4f312fd5f28d82">computeObjectImagePoints</a> (std::vector&lt; <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &gt; inputImages)</td></tr>
<tr class="separator:a4f9403aa890ab7af3a4f312fd5f28d82"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a325b35b85764b7228c595f71b1836e53"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#a325b35b85764b7228c595f71b1836e53">computeObjectImagePointsForSingle</a> (<a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> inputImage)</td></tr>
<tr class="separator:a325b35b85764b7228c595f71b1836e53"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa72b64738ec318ff1faf69347f597f76"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#aa72b64738ec318ff1faf69347f597f76">getImagePoints</a> ()</td></tr>
<tr class="separator:aa72b64738ec318ff1faf69347f597f76"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a7c1216077f6a7d88b26d44f1a8fd6b"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#a9a7c1216077f6a7d88b26d44f1a8fd6b">getObjectPoints</a> ()</td></tr>
<tr class="separator:a9a7c1216077f6a7d88b26d44f1a8fd6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56c6e69acc77b059df1e31ab3165e64a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#a56c6e69acc77b059df1e31ab3165e64a">loadPattern</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;patternImage)</td></tr>
<tr class="separator:a56c6e69acc77b059df1e31ab3165e64a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb584b73b5d3458bb09a115a6a676f8e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d8d/classcv_1_1randpattern_1_1RandomPatternCornerFinder.html#aeb584b73b5d3458bb09a115a6a676f8e">loadPattern</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;patternImage, const std::vector&lt; <a class="el" href="../../d2/d29/classcv_1_1KeyPoint.html">cv::KeyPoint</a> &gt; &amp;patternKeyPoints, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;patternDescriptors)</td></tr>
<tr class="separator:aeb584b73b5d3458bb09a115a6a676f8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class for finding features points and corresponding 3D in world coordinate of a "random" pattern, which can be to be used in calibration. It is useful when pattern is partly occluded or only a part of pattern can be observed in multiple cameras calibration. The pattern can be generated by <a class="el" href="../../d7/d43/classcv_1_1randpattern_1_1RandomPatternGenerator.html">RandomPatternGenerator</a> class described in this file. </p>
<p>Please refer to paper B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System Calibration Toolbox Using A Feature Descriptor-Based Calibration Pattern", in IROS 2013. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="adcd3edab6ce626e76d57a593d2640516"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adcd3edab6ce626e76d57a593d2640516">&#9670;&nbsp;</a></span>RandomPatternCornerFinder()</h2>

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        <tr>
          <td class="memname">cv::randpattern::RandomPatternCornerFinder::RandomPatternCornerFinder </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>patternWidth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>patternHeight</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nminiMatch</em> = <code>20</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>depth</em> = <code><a class="el" href="../../d1/d1b/group__core__hal__interface.html#ga4a3def5d72b74bed31f5f8ab7676099c">CV_32F</a></code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>verbose</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>showExtraction</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d9b/group__features2d.html#ga15e1361bda978d83a2bea629b32dfd3c">FeatureDetector</a> &gt;&#160;</td>
          <td class="paramname"><em>detector</em> = <code><a class="el" href="../../d8/d30/classcv_1_1AKAZE.html#aee9025aea852275a424e1b5934c79103">AKAZE::create</a>(<a class="el" href="../../d8/d30/classcv_1_1AKAZE.html#a6f44619b9c9a25be4526de5b665ca690a929fb7e01bc6a4e8e7a1449ee0731c86">AKAZE::DESCRIPTOR_MLDB</a>,&#160;0,&#160;3,&#160;0.005f)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d9b/group__features2d.html#gadd5cf7c76865f14468cfdd9cc08eb990">DescriptorExtractor</a> &gt;&#160;</td>
          <td class="paramname"><em>descriptor</em> = <code><a class="el" href="../../d8/d30/classcv_1_1AKAZE.html#aee9025aea852275a424e1b5934c79103">AKAZE::create</a>(<a class="el" href="../../d8/d30/classcv_1_1AKAZE.html#a6f44619b9c9a25be4526de5b665ca690a929fb7e01bc6a4e8e7a1449ee0731c86">AKAZE::DESCRIPTOR_MLDB</a>,&#160;0,&#160;3,&#160;0.005f)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../db/d39/classcv_1_1DescriptorMatcher.html">DescriptorMatcher</a> &gt;&#160;</td>
          <td class="paramname"><em>matcher</em> = <code><a class="el" href="../../db/d39/classcv_1_1DescriptorMatcher.html#ab5dc5036569ecc8d47565007fa518257">DescriptorMatcher::create</a>(&quot;BruteForce-<a class="el" href="../../d4/d7f/structcv_1_1L1.html">L1</a>&quot;)</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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</div><div class="memdoc">

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<h2 class="groupheader">Member Function Documentation</h2>
<a id="a4f9403aa890ab7af3a4f312fd5f28d82"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4f9403aa890ab7af3a4f312fd5f28d82">&#9670;&nbsp;</a></span>computeObjectImagePoints()</h2>

<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">void cv::randpattern::RandomPatternCornerFinder::computeObjectImagePoints </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &gt;&#160;</td>
          <td class="paramname"><em>inputImages</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

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</div>
<a id="a325b35b85764b7228c595f71b1836e53"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a325b35b85764b7228c595f71b1836e53">&#9670;&nbsp;</a></span>computeObjectImagePointsForSingle()</h2>

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      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a>&gt; cv::randpattern::RandomPatternCornerFinder::computeObjectImagePointsForSingle </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a>&#160;</td>
          <td class="paramname"><em>inputImage</em></td><td>)</td>
          <td></td>
        </tr>
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<a id="aa72b64738ec318ff1faf69347f597f76"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa72b64738ec318ff1faf69347f597f76">&#9670;&nbsp;</a></span>getImagePoints()</h2>

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        <tr>
          <td class="memname">const std::vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a>&gt;&amp; cv::randpattern::RandomPatternCornerFinder::getImagePoints </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

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</div>
<a id="a9a7c1216077f6a7d88b26d44f1a8fd6b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9a7c1216077f6a7d88b26d44f1a8fd6b">&#9670;&nbsp;</a></span>getObjectPoints()</h2>

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          <td class="memname">const std::vector&lt;<a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a>&gt;&amp; cv::randpattern::RandomPatternCornerFinder::getObjectPoints </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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</div><div class="memdoc">

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</div>
<a id="a56c6e69acc77b059df1e31ab3165e64a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a56c6e69acc77b059df1e31ab3165e64a">&#9670;&nbsp;</a></span>loadPattern() <span class="overload">[1/2]</span></h2>

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          <td class="memname">void cv::randpattern::RandomPatternCornerFinder::loadPattern </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;&#160;</td>
          <td class="paramname"><em>patternImage</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

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</div>
<a id="aeb584b73b5d3458bb09a115a6a676f8e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeb584b73b5d3458bb09a115a6a676f8e">&#9670;&nbsp;</a></span>loadPattern() <span class="overload">[2/2]</span></h2>

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          <td class="memname">void cv::randpattern::RandomPatternCornerFinder::loadPattern </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;&#160;</td>
          <td class="paramname"><em>patternImage</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../d2/d29/classcv_1_1KeyPoint.html">cv::KeyPoint</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>patternKeyPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;&#160;</td>
          <td class="paramname"><em>patternDescriptors</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/ccalib/<a class="el" href="../../de/dc5/randpattern_8hpp.html">randpattern.hpp</a></li>
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